CN116620401A - Electronic differential control method and device for heavy shuttle car - Google Patents

Electronic differential control method and device for heavy shuttle car Download PDF

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Publication number
CN116620401A
CN116620401A CN202310621892.6A CN202310621892A CN116620401A CN 116620401 A CN116620401 A CN 116620401A CN 202310621892 A CN202310621892 A CN 202310621892A CN 116620401 A CN116620401 A CN 116620401A
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China
Prior art keywords
shuttle car
target
steering
target shuttle
determining
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CN202310621892.6A
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Inventor
王健
曹建文
姜铭
王涛
龙先江
许连丙
田克君
高旭彬
郭利强
乔佳伟
高鹏
胡文芳
布朋生
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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Application filed by Taiyuan Institute of China Coal Technology and Engineering Group, Shanxi Tiandi Coal Mining Machinery Co Ltd filed Critical Taiyuan Institute of China Coal Technology and Engineering Group
Priority to CN202310621892.6A priority Critical patent/CN116620401A/en
Publication of CN116620401A publication Critical patent/CN116620401A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
    • B62D11/003—Electric or electronic control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

The application belongs to the technical field of heavy vehicle walking control, and provides an electronic differential control method and device for a heavy shuttle vehicle, which solve the problems that the turning radius of the vehicle is large and part of tires slip or drag in the pure hydraulic steering process. Acquiring the opening degree of an accelerator pedal of a target shuttle car in a steering stage through a whole car controller; determining a preliminary given rotating speed of the shuttle car in a steering stage according to the mapping relation; acquiring the length of an oil cylinder displacement sensor of a target shuttle car in a steering stage; determining a steering angle of the shuttle car in a steering stage according to the mapping relation; according to the steering angle, analyzing the mechanical structure to determine the turning radius of the target shuttle car; and finally, calculating the differential coefficient of each wheel, and finally, combining the preliminary given rotating speed to finish the output of the final actual given rotating speed of the traveling motor, thereby realizing the electronic differential control of the shuttle car. The application can improve the steering performance and the driving stability of the heavy vehicle.

Description

Electronic differential control method and device for heavy shuttle car
Technical Field
The application belongs to the technical field of heavy vehicle walking control, and particularly relates to an electronic differential control method and device for a heavy shuttle car.
Background
As heavy shuttle vehicles are used more and more widely in underground coal mines, particularly in large coal mines, such vehicles often carry the coal transportation work in the mining process. In the past, the steering system of the vehicle is simpler, and the steering system is mainly rotated by pure hydraulic pressure, and the steering of the whole vehicle is realized by controlling a hydraulic steering wheel and increasing the pressure of a hydraulic loop oil cylinder through a driver.
For heavy vehicles, the turning radius of the vehicle can be increased by the method and the device for pure hydraulic steering, and an electric drive system cannot acquire the steering angle of the tire to adjust the output, so that the phenomenon of sliding or dragging of part of the tire is caused, the reactive power consumption of a motor and the abrasion of the tire are increased, and the operability and the driving comfort of the vehicle are poor.
Disclosure of Invention
The application provides an electronic differential control method and device for a heavy shuttle car, which aims to solve at least one technical problem in the prior art.
The application is realized by adopting the following technical scheme: an electronic differential control method of a heavy shuttle car comprises the following steps:
s1: acquiring the opening degree of an accelerator pedal and the displacement length of an oil cylinder of a target shuttle car in a steering stage;
s2: determining a preliminary given rotating speed of the target shuttle car in a steering stage according to a first mapping relation between the opening of an accelerator pedal and the output rotating speed of the target shuttle car;
s3: determining the steering angle of the target shuttle car in the steering stage according to the second mapping relation between the displacement length of the oil cylinder and the steering angle of the target shuttle car;
s4: according to the steering angle, analyzing the geometric structure of the target shuttle car, and determining the steering radius of the target shuttle car;
s5: determining differential coefficients of the inner wheel and the outer wheel of the target shuttle car according to the steering radius;
s6: and determining and outputting the actual given rotating speeds of the inner wheel and the outer wheel of the target shuttle car according to the preliminary given rotating speed of the steering stage of the target shuttle car and the differential coefficients of the inner wheel and the outer wheel, and controlling the running steering of the target shuttle car.
Preferably, in step S1, the numerical range of the accelerator pedal opening is 0 to 100; the displacement length of the oil cylinder is the displacement length of the oil cylinder of the target shuttle car at the target moment, and the target moment refers to the moment when the accelerator pedal electric signal is generated.
Preferably, in step S2, the first mapping relationship is:
wherein V is the preliminary given rotating speed of the target shuttle car in the steering stage; v (V) max The maximum rotating speed of the motor is set; k is the opening of an accelerator pedal; lambda is the acceleration coefficient.
Preferably, in step S3, the second mapping relationship is:
wherein, gamma is the steering angle of the target shuttle car; l (L) a The length of one side of the triangle formed when the target shuttle car runs is the length of one side of the triangle formed when the target shuttle car runs; l (L) b The length of the other side of the triangle formed when the target shuttle car runs; l is the displacement length of the oil cylinder, namely the length of the hypotenuse of the triangle; beta is the angle of the triangle formed by the shuttle car when running.
Preferably, in step S4, according to the steering angle of the target shuttle, the steering radius of the target shuttle is obtained by constructing the steering arc through the front and rear tires:
wherein R is 0 The steering radius of the target shuttle car is; m is the center-to-center distance between the front and rear tires; and gamma is the steering angle of the target shuttle car.
Preferably, in step S5, the calculation formula of the differential coefficients of the inner wheel and the outer wheel in the steering stage of the target shuttle is:
wherein I is r 、I R Differential coefficients of the inner wheel and the outer wheel respectively; m is the center-to-center distance between the front and rear tires; n is the center-to-center spacing of the left and right tires; and gamma is the steering angle of the target shuttle car.
Preferably, in step S6, the calculation formula of the actual given rotation speeds of the inner wheel and the outer wheel of the target shuttle car is:
wherein V is r 、V R The actual given rotation speeds of the inner wheel and the outer wheel are respectively; i r 、I R Differential coefficients of the inner wheel and the outer wheel respectively; m is the center-to-center distance between the front and rear tires; n is the center-to-center spacing of the left and right tires; gamma is the steering angle of the target shuttle car; v is the preliminary given rotating speed of the target shuttle car in the steering stage.
Preferably, in the target shuttle steering stage, the wheels in the same direction as the turning direction are inner wheels, and the wheels in the opposite direction are outer wheels.
The application also provides an electronic differential control device of the heavy shuttle car, which is based on an electronic differential control method of the heavy shuttle car and comprises a first acquisition module, a first determination module, a second acquisition module, a second determination module, a third determination module and a first control module;
the first acquisition module is used for acquiring the opening degree of an accelerator pedal of the target shuttle car in the steering stage, and the first determination module is used for determining the preliminary given rotating speed of the target shuttle car in the steering stage according to the first mapping relation; the second acquisition module is used for acquiring the displacement length of the oil cylinder according to the oil cylinder displacement sensor, and the second determination module is used for determining the steering angle of the target shuttle car in the steering stage according to the second mapping relation and combining the mechanical structure of the target shuttle car; the third determining module is used for determining the steering radius of the target shuttle car and the differential coefficients of the inner wheel and the outer wheel according to the steering angle and combining the distances between the front tire, the rear tire and the left tire of the target shuttle car, and finally determining the actual given rotating speeds of the inner wheel and the outer wheel of the target shuttle car by combining the preliminary given rotating speeds; the first control module is used for controlling the motors of the inner wheel and the outer wheel to output final actual given rotating speeds.
Compared with the prior art, the application has the beneficial effects that:
when the target shuttle car turns, the hydraulic steering system is used for solving the turning radius of the target shuttle car by adding the oil cylinder displacement sensor, controlling the motors of the inner wheel and the outer wheel to respectively output proper rotating speeds, and simultaneously reducing the turning radius of the shuttle car by matching with the hydraulic steering system of the vehicle, so that the steering process of the vehicle is smoother, the slippage and the dragging of tires are reduced, the electronic differential is realized, and the steering performance and the driving stability of the heavy vehicle are improved.
The application further optimizes the traveling control strategy of the existing shuttle car, increases the electronic differential function, conforms to the development trend of environmental protection, automation and intellectualization of coal mines, can enlarge the traveling operation range of the shuttle car, promotes the update of the automation function of the shuttle car, meets the market development requirement, has reference significance for the steering design of other new energy vehicles, and can bring additional benefits.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a control flow diagram of the present embodiment;
fig. 2 is a schematic diagram of a first mapping relationship between the opening of the accelerator pedal and the output rotation speed of the target shuttle car according to the present embodiment;
fig. 3 is a schematic diagram of a second mapping relationship between the displacement length of the cylinder and the steering angle of the target shuttle car in the present embodiment;
fig. 4 is a schematic diagram of a mapping relationship between a steering angle and actual given rotational speeds of an inner wheel and an outer wheel in the present embodiment;
fig. 5 is a schematic diagram of a mapping relationship between an accelerator pedal opening and actual given rotational speeds of an inner wheel and an outer wheel of the present embodiment;
FIG. 6 is a schematic view of the geometry at the steering angle of the present embodiment;
FIG. 7 is a schematic view of the device module of the present embodiment;
fig. 8 is a schematic view of the turning circular arc of the present embodiment.
Detailed Description
Technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the examples of this application without making any inventive effort, are intended to fall within the scope of this application.
It should be understood that the structures, proportions, sizes, etc. shown in the drawings are merely for the purpose of understanding and reading the disclosure, and are not intended to limit the scope of the application, which is defined by the appended claims, and any structural modifications, proportional changes, or dimensional adjustments, which may be made by those skilled in the art, should fall within the scope of the present disclosure without affecting the efficacy or the achievement of the present application, and it should be noted that, in the present disclosure, relational terms such as first and second are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual relationship or order between such entities.
The present application provides an embodiment:
as shown in fig. 1, an electronic differential control method of a heavy shuttle car includes the following steps:
s1: acquiring the opening degree of an accelerator pedal and the displacement length of an oil cylinder of a target shuttle car in a steering stage;
s2: determining a preliminary given rotating speed of the target shuttle car in a steering stage according to a first mapping relation between the opening of an accelerator pedal and the output rotating speed of the target shuttle car;
s3: determining the steering angle of the target shuttle car in the steering stage according to the second mapping relation between the displacement length of the oil cylinder and the steering angle of the target shuttle car;
s4: according to the steering angle, analyzing the geometric structure of the target shuttle car, and determining the steering radius of the target shuttle car;
s5: determining differential coefficients of the inner wheel and the outer wheel of the target shuttle car according to the steering radius;
s6: and determining the actual given rotating speeds of the inner wheel and the outer wheel of the target shuttle car and outputting the actual given rotating speeds according to the preliminary given rotating speeds of the steering stage of the target shuttle car and the differential coefficients of the inner wheel and the outer wheel of the target shuttle car, controlling the running steering of the target shuttle car, and realizing the electronic differential control of the target shuttle car.
In step S1, it should be noted that, when the driver presses the accelerator pedal of the shuttle car, the control system may generate a corresponding electrical signal, such as a voltage signal, a current signal or other communication signals, according to the opening of the accelerator pedal, and the overall controller may receive the signal and convert the signal into an easy-to-understand opening value of the accelerator pedal. It will be appreciated that the accelerator pedal opening has a range limited by the mechanical structure. In the embodiment of the application, a fixed numerical range of 0-100 is set for the opening of the accelerator pedal. Further, after the electric signal is detected, the value of the accelerator pedal opening can be determined according to the corresponding relation between the accelerator pedal opening and the value of the electric signal. Meanwhile, the displacement length of the oil cylinder at the target moment is obtained, wherein the target moment refers to the moment of generating an electric signal of an accelerator pedal, and the displacement length and the electric signal of the accelerator pedal are synchronously carried out without time and logic sequence.
As shown in fig. 2, in step S2, a first mapping relationship between the accelerator pedal opening and the target shuttle car output rotation speed is:
wherein V is the preliminary given rotating speed of the target shuttle car in the steering stage; v (V) max The maximum rotating speed of the motor is set; k is the opening of the accelerator pedal. The preliminary rotation speed is given andand the output is not direct, and the subsequent steps are needed to be combined.
In general, the preliminary given rotational speed of the target shuttle in the steering stage rises slowly in the initial stage and the final stage of the pedal stroke, and the rising speed in the middle stage is faster. The application adds the acceleration coefficient lambda in the mapping relation between the opening of the accelerator pedal and the preliminary given rotating speed, and can be set according to actual needs. The smaller the lambda value, the smaller the slope of the initial stage and the final stage, and the slower the rotation speed rises; the larger the intermediate stage slope, the faster the rotational speed rise and vice versa. The application is not limited in this regard.
As shown in fig. 3 and 6, in step S3, the second mapping relationship between the displacement length of the cylinder and the steering angle of the target shuttle car is:
wherein, gamma is the steering angle of the target shuttle car; l (L) a The length of one side of the triangle formed when the target shuttle car runs is the length of one side of the triangle formed when the target shuttle car runs; l (L) b The length of the other side of the triangle formed when the target shuttle car runs; l is the displacement length of the oil cylinder, namely the length of the hypotenuse of the triangle; beta is the angle of the triangle formed by the shuttle car when running. The three vertexes of the triangle are respectively a hinge point of the front frame and the rear frame and two endpoints of the oil cylinder.
Specifically, a specific geometric structure is formed according to the physical structure of the target shuttle car frame (including the frame, the steering transmission shaft, the tire structure and the like) and the position of the oil cylinder, and the second mapping relation between the length of the oil cylinder and the steering angle of the vehicle can be obtained by analyzing the structure.
In step S4, according to the steering angle of the target shuttle, the steering arc is constructed by the front and rear tires, as shown in fig. 8, and the steering radius of the target shuttle is obtained as follows:
wherein R is 0 The steering radius of the target shuttle car is; m is the front and rear tyreCenter-to-center spacing; and gamma is the steering angle of the target shuttle car.
In step S5, according to the steering radius, the differential coefficients of the inner wheel and the outer wheel in the steering stage of the target shuttle car are determined as follows:
wherein I is r 、I R Differential coefficients of the inner wheel and the outer wheel respectively; m is the center-to-center distance between the front and rear tires; n is the center-to-center spacing of the left and right tires; and gamma is the steering angle of the target shuttle car. In the steering stage of the target shuttle car, the wheels in the same direction as the turning direction are inner wheels, and the wheels in the opposite direction are outer wheels; namely, when the shuttle car turns left, the left wheel is an inner wheel and the right wheel is an outer wheel; when turning right, the right wheel is an inner wheel, the left wheel is an outer wheel, and the turning direction can be judged according to the displacement length of the oil cylinder. The specific method is that the length Lm of the left cylinder in straight line is calibrated, if L<Lm is the left turn of the vehicle, L>Lm then the vehicle turns right. The displacement length of the oil cylinder is measured according to a displacement sensor arranged in the oil cylinder.
In step S6, according to the preliminary given rotation speed of the steering stage of the target shuttle car and the differential coefficients of the inner wheel and the outer wheel, determining that the actual given rotation speed of the inner wheel and the outer wheel of the target shuttle car is: the inner wheel set rotational speed of the front and rear wheels is the same, as is the outer wheel set rotational speed.
Wherein V is r 、V R The actual given rotation speeds of the inner wheel and the outer wheel are respectively; i r 、I R Respectively, inner wheelsDifferential coefficient of the outer wheel; m is the center-to-center distance between the front and rear tires; n is the center-to-center spacing of the left and right tires; gamma is the steering angle of the target shuttle car; v is the preliminary given rotating speed of the target shuttle car in the steering stage.
It should be noted that the steering stage mentioned in the present application is not just a wide-angle turning lane of the vehicle in the narrow sense during traveling, but any stage of the vehicle traveling in a broad sense, and each of the above steps also plays a role in any stage of the shuttle traveling, for example, straight traveling may be regarded as a steering in which the steering angle is close to 0 degrees and the turning radius is extremely large.
It can be understood that after the actual given rotation speed of the shuttle car is determined, the control system can make the walking motor output the corresponding actual given rotation speed to drive the normal running steering of the target shuttle car.
Fig. 4 is a schematic diagram of a mapping relationship between a target shuttle steering angle and actual given rotational speeds of an inner wheel and an outer wheel under the condition that the opening degree of an accelerator pedal is unchanged (i.e., the preliminary given rotational speed is unchanged). The steering angle is changed in a range of 0-45 degrees, the preliminary given rotating speed of the accelerator pedal is set to be a fixed value of 1000, the center-to-center distance between the front tire and the rear tire is 6000, and the center-to-center distance between the left tire and the right tire is 4500.
Fig. 5 is a schematic diagram of a mapping relationship between the opening of the accelerator pedal of the target shuttle car and the actual given rotation speeds of the inner wheel and the outer wheel under the condition that the steering angle is unchanged. Wherein the variation range of the opening of the accelerator pedal is 0-100, the steering angle is set to be 35 degrees, the center-to-center distance between the front tire and the rear tire is 6000, and the center-to-center distance between the left tire and the right tire is 4500.
It is emphasized that the values or ranges of m, n, k, V, γ set in fig. 4 and 5 are only a specific example of all application scenarios of the present application, and the method provided in the present application does not require fixing the variables for convenience of drawing and understanding.
As shown in fig. 7, the application further provides an electronic differential control device of the heavy-duty shuttle car, which relies on an electronic differential control method of the heavy-duty shuttle car and comprises a first acquisition module, a first determination module, a second acquisition module, a second determination module, a third determination module and a first control module;
the first acquisition module is used for acquiring the opening of an accelerator pedal of the target shuttle car in a steering stage, and the accelerator pedal can send out an analog quantity signal to reflect the opening under normal conditions;
the first determining module, namely an analog input module I, is used for determining the preliminary given rotating speed of the target shuttle car in the driving stage according to a first mapping relation;
the second acquisition module, namely an oil cylinder displacement sensor, is generally arranged in the oil cylinder, and is used for acquiring the displacement length of the oil cylinder and sending out an analog quantity signal;
the second determining module, namely an analog quantity input module II, is used for determining the steering angle of the target shuttle car in the steering stage according to the second mapping relation and combining the mechanical structure of the target shuttle car;
the third determining module, namely a main controller, usually uses a PLC (programmable logic controller) for determining the steering radius of the target shuttle car and the differential coefficients of the inner wheel and the outer wheel according to the steering angle and in combination with the distances between the front tire, the rear tire and the left tire of the target shuttle car, and finally determining the actual given rotating speeds of the inner wheel and the outer wheel of the target shuttle car in combination with the preliminary given rotating speeds;
the first control module is a motor controller or a frequency converter, and the final actual given rotating speed is controlled to be output by the motors of the inner wheel and the outer wheel by receiving the communication signal of the main controller.
The foregoing is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present application should be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (9)

1. The electronic differential control method of the heavy shuttle car is characterized by comprising the following steps of:
s1: acquiring the opening degree of an accelerator pedal and the displacement length of an oil cylinder of a target shuttle car in a steering stage;
s2: determining a preliminary given rotating speed of the target shuttle car in a steering stage according to a first mapping relation between the opening of an accelerator pedal and the output rotating speed of the target shuttle car;
s3: determining the steering angle of the target shuttle car in the steering stage according to the second mapping relation between the displacement length of the oil cylinder and the steering angle of the target shuttle car;
s4: according to the steering angle, analyzing the geometric structure of the target shuttle car, and determining the steering radius of the target shuttle car;
s5: determining differential coefficients of the inner wheel and the outer wheel of the target shuttle car according to the steering radius;
s6: and determining and outputting the actual given rotating speeds of the inner wheel and the outer wheel of the target shuttle car according to the preliminary given rotating speed of the steering stage of the target shuttle car and the differential coefficients of the inner wheel and the outer wheel, and controlling the running steering of the target shuttle car.
2. The electronic differential control method of heavy shuttle car according to claim 1, wherein in step S1, the numerical range of the opening of the accelerator pedal is 0 to 100; the displacement length of the oil cylinder is the displacement length of the oil cylinder of the target shuttle car at the target moment, and the target moment refers to the moment when the accelerator pedal electric signal is generated.
3. The method for controlling electronic differential speed of heavy shuttle car according to claim 2, wherein in step S2, the first mapping relation is:
wherein V is the preliminary given rotating speed of the target shuttle car in the steering stage; v (V) max The maximum rotating speed of the motor is set; k is the opening of an accelerator pedal; lambda is the acceleration coefficient.
4. The method for controlling electronic differential speed of heavy shuttle car according to claim 3, wherein in step S3, the second mapping relation is:
wherein, gamma is the steering angle of the target shuttle car; l (L) a The length of one side of the triangle formed when the target shuttle car runs is the length of one side of the triangle formed when the target shuttle car runs; l (L) b The length of the other side of the triangle formed when the target shuttle car runs; l is the displacement length of the oil cylinder, namely the length of the hypotenuse of the triangle; beta is the angle of the triangle formed by the shuttle car when running.
5. The method for electronic differential control of heavy duty shuttle car according to claim 4, wherein in step S4, according to the steering angle of the target shuttle car, steering radius of the target shuttle car is obtained by constructing steering arcs through front and rear tires:
wherein R is 0 The steering radius of the target shuttle car is; m is the center-to-center distance between the front and rear tires; and gamma is the steering angle of the target shuttle car.
6. The method for electronic differential control of heavy duty shuttle car according to claim 5, wherein in step S5, the calculation formula of differential coefficients of the inner wheel and the outer wheel of the steering stage of the target shuttle car is:
wherein I is r 、I R Differential coefficients of the inner wheel and the outer wheel respectively; m is the center-to-center distance between the front and rear tires; n is the center-to-center spacing of the left and right tires; and gamma is the steering angle of the target shuttle car.
7. The method for electronic differential control of heavy duty shuttle car according to claim 6, wherein in step S6, the calculation formula of the actual given rotation speed of the inner wheel and the outer wheel of the target shuttle car is:
wherein V is r 、V R The actual given rotation speeds of the inner wheel and the outer wheel are respectively; i r 、I R Differential coefficients of the inner wheel and the outer wheel respectively; m is the center-to-center distance between the front and rear tires; n is the center-to-center spacing of the left and right tires; gamma is the steering angle of the target shuttle car; v is the preliminary given rotating speed of the target shuttle car in the steering stage.
8. The method for electronically differentially controlling a heavy shuttle car according to claim 7, wherein the wheels in the same direction as the turning direction are inner wheels and the wheels in the opposite direction are outer wheels during the target shuttle car steering stage.
9. An electronic differential control device for a heavy-duty shuttle car, which is based on the electronic differential control method for the heavy-duty shuttle car according to any one of claims 1 to 8, and is characterized in that: the device comprises a first acquisition module, a first determination module, a second acquisition module, a second determination module, a third determination module and a first control module;
the first acquisition module is used for acquiring the opening degree of an accelerator pedal of the target shuttle car in the steering stage, and the first determination module is used for determining the preliminary given rotating speed of the target shuttle car in the steering stage according to the first mapping relation; the second acquisition module is used for acquiring the displacement length of the oil cylinder according to the oil cylinder displacement sensor, and the second determination module is used for determining the steering angle of the target shuttle car in the steering stage according to the second mapping relation and combining the mechanical structure of the target shuttle car; the third determining module is used for determining the steering radius of the target shuttle car and the differential coefficients of the inner wheel and the outer wheel according to the steering angle and combining the distances between the front tire, the rear tire and the left tire of the target shuttle car, and finally determining the actual given rotating speeds of the inner wheel and the outer wheel of the target shuttle car by combining the preliminary given rotating speeds; the first control module is used for controlling the motors of the inner wheel and the outer wheel to output final actual given rotating speeds.
CN202310621892.6A 2023-05-30 2023-05-30 Electronic differential control method and device for heavy shuttle car Pending CN116620401A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310621892.6A CN116620401A (en) 2023-05-30 2023-05-30 Electronic differential control method and device for heavy shuttle car

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310621892.6A CN116620401A (en) 2023-05-30 2023-05-30 Electronic differential control method and device for heavy shuttle car

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Publication Number Publication Date
CN116620401A true CN116620401A (en) 2023-08-22

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Application Number Title Priority Date Filing Date
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